| 智能水下机器人路径规划 |
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| 引用本文： | 朱齐丹,华克强.智能水下机器人路径规划[J].哈尔滨工程大学学报,1996,17(4):37-41. |
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| 作者姓名： | 朱齐丹 华克强 |
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| 作者单位： | 哈尔滨工程大学自动控制系 |
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| 摘 要： | 介绍一实际智能水下机器人三维空间的路径规划，给现一种新的海洋环境表示地－海面区域分割环境建模方法，并对Ａ搜索算法进行了改进，提出了动态扩展搜索点的思想，使三维空间路径规划算法得以简化并易物实现。该方法在实际水下机器人的海试中进行了试验，并获得成功。
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| 关 键 词： | 水下机器人 路径规划 智能机器人 |
Path Planning for Intelligent Underwater Robot |
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| Zhu Qidan,Hua Keqiang.Path Planning for Intelligent Underwater Robot[J].Journal of Harbin Engineering University,1996,17(4):37-41. |
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| Authors: | Zhu Qidan Hua Keqiang |
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| Affiliation: | Dept.of Automatic Control.Harbin Engineening University .150001 |
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| Abstract: | The 3-D path planning for intelligent underwater robot is introduced in this paper.A new modelling method of ocean environment,regional partition on ocean surface,is given.And A-star algorithm is modified to meet dynamic expanding search node,so that the 3-D path planning is simplified and realized easily.The path planning is practised successfully in a ROV's ocean test. |
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| Keywords: | underwater robot path planning intelligence |
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